An adaptive zipline robot

Abstract

This invention discloses an adaptive zipline robot, belonging to the field of robotics technology, for walking on a steel cable. It includes a main mounting base, a driven wheel mechanism, a secondary mounting base, an active wheel mechanism, a sliding mechanism, and a constant force mechanism. The driven wheel mechanism is mounted on the main mounting base. The secondary mounting base is mounted on the main mounting base via the sliding mechanism. The active wheel mechanism is mounted on the secondary mounting base. The active wheel mechanism is located below the driven wheel mechanism and can slide up and down relative to it. The constant force mechanism is mounted on the main mounting base and connected to the secondary mounting base, thereby applying an upward constant force to the secondary mounting base. This adaptive zipline robot effectively solves the problems of existing adaptive zipline robots, such as increased friction and force shift between the wheel and the steel cable when the cable sags or has protrusions on its surface, leading to jerky gliding, severe shaking, and ultimately affecting the robot's gliding stability.

Description

Technical Field

[0001] This invention belongs to the field of robotics. Specifically, it relates to an adaptive zipline robot. Background Technology

[0002] Zipline robots are widely used in cableway inspection, line monitoring, and image acquisition. They rely on the cooperation of wheels and cables to achieve smooth gliding along the route, and their motion stability directly determines the image quality of the onboard camera and the overall lifespan of the robot. Existing zipline robots mostly use a fixed structure with active and driven wheels for movement, and the relative positions of the wheels are not adjustable. In long-distance cableway operations, the cable is prone to sag and bend due to its own weight, creating significant compressive frictional resistance between the fixed wheel assembly and the cable. Simultaneously, when there are protruding obstacles on the cable surface, the driven wheels are passively lifted, further exacerbating the hard friction and force shift between the wheel and cable, causing the robot to jam and vibrate violently. This problem not only accelerates the wear of the wheels and cable, shortening the equipment's lifespan, but also causes shaky and blurry images from the onboard camera, severely affecting the monitoring accuracy and operational reliability of cableway inspections, and failing to meet the stable gliding operation requirements under complex conditions. Therefore, there is an urgent need for a zipline robot structure that can adapt to cable drooping and surface protrusions, can maintain constant force to fit the cable, and can glide smoothly. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive zipline robot to address the aforementioned shortcomings. This solves the problems in existing adaptive zipline robots where, when the cable sags or has protrusions on its surface, the increased friction and force shift between the wheels and the cable lead to jerking, severe shaking, and ultimately, reduced stability during zipline movement. To achieve the above objective, this invention provides the following technical solution: An adaptive zipline robot for walking on a steel cable includes a main mounting base, a driven wheel mechanism, a secondary mounting base, a driving wheel mechanism, a sliding mechanism, and a constant force mechanism. The driven wheel mechanism is mounted on the main mounting base. The secondary mounting base is mounted on the main mounting base via the sliding mechanism. The driving wheel mechanism is mounted on the secondary mounting base. The driving wheel mechanism is located below the driven wheel mechanism and can slide up and down relative to the driven wheel mechanism. The constant force mechanism is mounted on the main mounting base and connected to the secondary mounting base to apply an upward constant force to the secondary mounting base.

[0004] Furthermore, the main mounting base is vertically arranged, and a pair of driven wheel mounting arms are provided on both sides of its upper part; the driven wheel mounting arms are provided with a first mounting hole for mounting the driven wheel mechanism.

[0005] Furthermore, the driven wheel mechanism includes two driven wheels, two idler wheel shafts, and two retaining rings; one end of the idler wheel shaft is fixedly connected to the main mounting base through the first mounting hole, and the other end is connected to the driven wheel; the retaining rings are used to lock the driven wheel to the idler wheel shaft to prevent the driven wheel from axially displacing; the driven wheel contacts the upper surface of the steel cable under the action of overall gravity.

[0006] Furthermore, the sliding mechanism includes a slide rail and a slider; the slide rail is vertically mounted on the main mounting base; the secondary mounting base is fixedly connected to the slider, thereby moving up and down relative to the main mounting base.

[0007] Furthermore, the drive wheel mechanism includes a friction wheel, a friction wheel mounting base, a transmission gear, a synchronous belt, a motor mounting base, a motor, and a drive gear; the auxiliary mounting base is provided with a second mounting hole for mounting the friction wheel; the friction wheel mounting base is provided with a third mounting hole corresponding to the position of the second mounting hole; one end of the rotating shaft of the friction wheel is rotatably mounted in the second mounting hole, and the other end is rotatably mounted in the third mounting hole, with the rotating shaft extending outward through the third mounting hole; the transmission gear is fixedly mounted on the rotating shaft of the friction wheel; the motor is fixedly mounted on the auxiliary mounting base via the motor mounting base; the drive gear is fixedly mounted on the output shaft of the motor; the synchronous belt is wound around the drive gear and the transmission gear; the friction wheel contacts the lower surface of the steel cable under the action of the constant force mechanism.

[0008] Furthermore, the constant force mechanism includes a spring mounting base and a constant force magnetic spring; the spring mounting base is fixedly mounted on the main mounting base; one end of the constant force magnetic spring is fixedly connected to the spring mounting base, and the other end is connected to the auxiliary mounting base, thereby applying an upward constant force to the auxiliary mounting base.

[0009] Furthermore, the auxiliary mounting base is provided with a mounting groove and a motor receiving hole; the friction wheel mounting base includes a fixed horizontal part and a vertical part; one end of the horizontal part is inserted into the mounting groove and fixed by screws; the third mounting hole is provided on the vertical part; the motor receiving hole is used to accommodate the motor.

[0010] Furthermore, it also includes a camera mounting base and a battery; the camera mounting base is fixedly mounted on the main mounting base; the camera mounting base is provided with a battery compartment for accommodating the battery; the battery is disposed in the battery compartment and is connected to the motor via wires to supply power to it.

[0011] Furthermore, it also includes a control module; the control module is electrically connected to the motor and can receive signals from an external controller to control the rotation of the motor in order to control the zipline robot to move on the steel cable.

[0012] Furthermore, the main mounting base is provided with perforated holes to reduce the weight of the zipline robot.

[0013] The beneficial effects of this invention are: The adaptive zipline robot of this application is designed with a sliding mechanism, which allows the drive wheel mechanism to move vertically to adapt to the sag and bending of the cable and the height changes caused by obstacles on the cable. Furthermore, a constant force mechanism controls the drive wheel to apply upward pressure to the cable to maintain a constant force, thereby reducing friction between the cable and the drive and driven wheels, smoothing the vibrations generated when the zipline robot navigates around obstacles on the cable, extending the service life of the zipline robot, and improving the zipline robot's mobility. Attached Figure Description

[0014] Figure 1 This is a front view of the adaptive zipline robot of the present invention; Figure 2 This is a three-dimensional structural diagram of the adaptive zipline robot of the present invention; Figure 3 This is a side view of the main mounting base, sliding mechanism, and auxiliary mounting base of the present invention in cooperation. Figure 4 yes Figure 3 Exploded view; Figure 5 This is a side view of the active wheel mechanism of the present invention in cooperation with the auxiliary mounting base; Figure 6 yes Figure 5 A schematic diagram of the three-dimensional structure; Figure 7 This is a schematic diagram of the application of the present invention when the protruding obstacle is above the steel cable; Figure 8 This is a schematic diagram illustrating the application of the present invention when the protruding obstacle is below the steel cable; In the attached diagram: 1. Main mounting base; 11. Driven wheel mounting arm; 2. Driven wheel mechanism; 21. Idler wheel shaft; 22. Driven wheel; 23. Snap ring; 3. Secondary mounting base; 31. Second mounting hole; 32. Mounting groove; 33. Limiting protrusion; 34. Motor receiving hole; 4. Drive wheel mechanism; 41. Friction wheel; 42. Friction wheel mounting base; 421. Horizontal part; 422. Vertical part; 43. Transmission gear; 44. Synchronous belt; 45. Motor mounting base; 46. Motor; 47. Drive gear; 5. Constant force mechanism; 51. Spring mounting base; 52. Constant force magnetic spring; 6. Battery; 7. Camera mounting base; 71. Battery compartment; 8. Steel cable; 9. Sliding mechanism; 10. Protruding obstacle. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

[0016] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0018] In the description of this invention, "a plurality of" means two or more.

[0019] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0020] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0021] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0022] Example See attached Figures 1-8This embodiment discloses an adaptive zipline robot, including a main mounting base 1, a driven wheel mechanism 2, a secondary mounting base 3, a driving wheel mechanism 4, a sliding mechanism 9, a constant force mechanism 5, a battery 6, a camera mounting base 7, and a control module. It is used to automatically walk on a steel cable 8 tensioned at both ends. Through the sliding mechanism 9 and the constant force mechanism 5, it can adapt to the sag and bending of the steel cable 8 due to its own weight and the protruding obstacles 10 on the surface of the steel cable 8, ensuring smooth walking and constant friction, thereby improving the robot's inspection and shooting quality and equipment lifespan. The main mounting base 1 is the basic load-bearing structure of the entire robot, and is a vertically arranged plate structure. To reduce the overall weight, multiple perforations can be opened on the main mounting base 1, which can reduce its weight. A pair of driven wheel mounting arms 11 extend from the upper two sides of the main mounting base 1, and the two driven wheel mounting arms 11 are symmetrically arranged for mounting the driven wheel mechanism 2. Each of the two driven wheel mounting arms 11 has a first mounting hole for mounting the idler wheel shaft 21 of the driven wheel mechanism 2.

[0023] The driven wheel mechanism 2 includes two driven wheels 22, two idler shafts 21, and two retaining rings 23. Each driven wheel 22 corresponds to one idler shaft 21 and one retaining ring 23. One end of the idler shaft 21 passes through a first mounting hole on the main mounting base 1 and is fixedly connected to the main mounting base 1. The fixing method can adopt various mechanical connection forms, such as axially opening a threaded hole at the end of the idler shaft 21, screwing a screw through the first mounting hole from the inside of the main mounting base 1 into the threaded hole and tightening it, thereby firmly installing the idler shaft 21 on the main mounting base 1. The other end of the idler shaft 21 is used to install the driven wheel 22. The driven wheel 22 has a through hole at its center that matches the outer diameter of the idler shaft 21, allowing the driven wheel 22 to rotate freely after being fitted onto the idler shaft 21. To prevent the driven wheel 22 from axially shifting and falling off along the idler shaft 21, a retaining ring 23 is installed at the outer end of the idler shaft 21. The retaining ring 23 engages in a pre-set groove on the idler shaft 21, thus restricting the driven wheel 22 to the idler shaft 21 and ensuring that the driven wheel 22 can only rotate and cannot move axially. When the entire robot is placed on the steel cable 8, the two driven wheels 22 are located above the steel cable 8, and the robot's own weight causes the driven wheels 22 to naturally press against the upper surface of the steel cable 8. When the robot moves, the driven wheels 22 roll along the upper surface of the steel cable 8 as the robot moves forward.

[0024] The auxiliary mounting base 3 is mounted on the main mounting base 1 via a sliding mechanism 9 and can move up and down relative to the main mounting base 1. The sliding mechanism 9 preferably uses a slide rail and a slider in cooperation. Specifically, in the vertical direction, the slide rail is fixedly mounted on the front of the main mounting base 1, with its length direction perpendicular to the horizontal plane. The slider slides along the slide rail, allowing it to move freely up and down. The back of the auxiliary mounting base 3, facing the front of the main mounting base 1, is fixedly connected to the slider. The auxiliary mounting base 3, together with the driving wheel mechanism 4 mounted thereon, can slide up and down relative to the main mounting base 1 and the driven wheel mechanism 2 fixed thereon.

[0025] The drive wheel mechanism 4 is integrally mounted on the auxiliary mounting base 3, and includes a friction wheel 41, a friction wheel mounting base 42, a transmission gear 43, a synchronous belt 44, a motor mounting base 45, a motor 46, and a drive gear 47. The auxiliary mounting base 3 has a second mounting hole 31 for mounting one end of the rotating shaft of the friction wheel 41. The friction wheel mounting base 42 includes an integrally formed or fixedly connected horizontal portion 421 and a vertical portion 422, which are L-shaped overall. The horizontal portion 421 is used to fix to the auxiliary mounting base 3, and the vertical portion 422 is used to support the other end of the rotating shaft of the friction wheel 41. To achieve precise and reliable fixing, a mounting groove 32 is formed on the auxiliary mounting base 3, the size of which matches the horizontal portion 421 of the friction wheel mounting base 42. During assembly, the front end of the horizontal portion 421 is inserted into the mounting groove 32, and then a screw is used to pass through the auxiliary mounting base 3 from the back and screwed into the pre-set threaded hole on the horizontal portion 421 to fix the friction wheel mounting base 42 on the auxiliary mounting base 3. A third mounting hole is provided on the vertical portion 422 of the friction wheel mounting base 42. The position of the third mounting hole is axially aligned with the second mounting hole 31 on the auxiliary mounting base 3, and the hole diameters are the same to ensure coaxiality. A rotating shaft is provided on the friction wheel 41. One end of the rotating shaft is mounted in the second mounting hole 31 through a first bearing, and the other end of the rotating shaft is mounted in the third mounting hole through a second bearing. The rotating shaft also passes through the third mounting hole and extends outward for a certain distance. Both the first bearing and the second bearing can be rolling bearings or sliding bearings, allowing the friction wheel 41 to rotate freely around its own axis. A transmission gear 43 is fixedly mounted on the portion of the rotating shaft that passes through the third mounting hole and extends outward.

[0026] Motor 46 drives the friction wheel 41 to rotate. Motor 46 is fixed to auxiliary mounting base 3 via motor mounting bracket 45. Motor mounting bracket 45 is fixedly connected to auxiliary mounting base 3 via screws. A drive gear 47 is fixedly mounted on the output shaft of motor 46, and drive gear 47 is connected to transmission gear 43 via synchronous belt 44. Synchronous belt 44 is wound around the outer edge of drive gear 47 and transmission gear 43 and maintains appropriate tension. When motor 46 is energized and rotates, drive gear 47 rotates, which drives transmission gear 43 to rotate via synchronous belt 44, thereby driving the shaft of friction wheel 41 and the body of friction wheel 41 to rotate together. Friction wheel 41 contacts the lower surface of steel cable 8, and the rotation of friction wheel 41 generates frictional force between it and steel cable 8, thereby driving the robot to move along steel cable 8.

[0027] The auxiliary mounting base 3 is provided with a motor receiving hole 34. The position of the motor receiving hole 34 corresponds to the position of the motor 46, allowing a portion of the motor 46 to be embedded in the hole, thereby reducing the protrusion of the entire drive wheel mechanism 4 on the auxiliary mounting base 3 and making the structure more compact. At the same time, the motor receiving hole 34 also facilitates the disassembly and installation of the motor 46, allowing the motor 46 to be directly removed from the motor receiving hole 34 during maintenance. The auxiliary mounting base 3 is also provided with a limiting protrusion 33, located above the motor mounting base 45, to limit the maximum upward travel of the motor mounting base 45 during installation, preventing the motor 46 from interfering with other components.

[0028] A constant force mechanism 5 is used to consistently apply a constant upward force to the auxiliary mounting base 3. The constant force mechanism 5 is mounted on the main mounting base 1 and connected to the bottom of the auxiliary mounting base 3. Specifically, the constant force mechanism 5 includes a spring mounting base 51 and a constant force magnetic spring 52. The spring mounting base 51 is fixedly mounted on the main mounting base 1, located below the auxiliary mounting base 3. The lower end of the constant force magnetic spring 52 is fixedly connected to the spring mounting base 51, and the upper end of the constant force magnetic spring 52 is fixedly connected to the bottom of the auxiliary mounting base 3. The constant force magnetic spring 52 is a specially designed spring whose output force can remain constant and does not change with compression or elongation. In this embodiment, the constant force magnetic spring 52 consistently applies a constant upward thrust to the auxiliary mounting base 3, causing the friction wheel 41 to adhere to the lower surface of the steel cable 8 with a constant pressure.

[0029] It should be noted that after the robot is placed on the steel cable 8, the driven wheel 22 presses against the upper surface of the steel cable 8, while the driving wheel, under the action of the constant force mechanism 5, pushes upward against the lower surface of the steel cable 8. The two ends of the steel cable 8 are tensioned, therefore the steel cable 8 exerts a downward reaction force on the driving wheel. The magnitude of this reaction force is equal to the upward thrust applied by the constant force mechanism 5. Since this thrust is constant, the normal force between the driving wheel and the steel cable 8 is constant. According to Coulomb's law of friction, the frictional force equals the normal force multiplied by the coefficient of friction; therefore, the frictional force also remains constant.

[0030] In this embodiment, the adaptive zipline robot of this application further includes a battery 6, a camera mounting base 7, and a control module. The camera mounting base 7 is fixedly disposed at the lower part of the main mounting base 1, for example, by means of screws or welding. A battery compartment 71 is provided on the camera mounting base 7, and the shape and size of the battery compartment 71 are matched with the battery 6 used. The battery 6 is installed in the battery compartment 71. The battery 6 is connected to the motor 46 through wires to provide working power to the motor 46. The control module is electrically connected to the motor 46 and can receive control signals from an external controller to control the start, stop, forward and reverse rotation, and speed of the motor 46, thereby controlling the robot's forward, backward, and speed on the cable 8.

[0031] In normal operation, the robot is placed on the steel cable 8. The two driven wheels 22 press against the upper surface of the steel cable 8 by their own weight, while the driving wheel pushes upward against the lower surface of the steel cable 8 under the action of the constant force mechanism 5. After the motor 46 is started, the friction wheel 41 rotates, driving the robot to move along the steel cable 8 by friction. Because the positive pressure provided by the constant force mechanism 5 is constant, there will be no slippage or excessive friction causing jamming between the friction wheel 41 and the steel cable 8. The robot glides smoothly, and the camera equipment mounted on the camera mount 7 can obtain clear and stable images.

[0032] When the steel cable 8 sags and bends due to its long-distance installation, certain sections of the cable 8 will dent downwards. For conventional robots with fixed wheel sets, the normal force between the drive wheel and the steel cable 8 changes with the position of the cable 8: at the sag points, the drive wheel may be compressed more tightly, leading to a significant increase in frictional resistance. However, in this embodiment, when the steel cable 8 sags, it exerts an additional downward force on the drive wheel, causing the drive wheel and the auxiliary mounting base 3 to move downwards together. Since the upward thrust exerted by the constant force mechanism 5 on the auxiliary mounting base 3 remains constant, the normal force between the drive wheel and the steel cable 8 does not change due to the downward movement of the drive wheel, thus maintaining constant friction. At the same time, the driven wheel 22 remains in contact with the upper surface of the steel cable 8, and the robot's posture naturally adjusts with the bending of the steel cable 8, without generating additional compression or bouncing.

[0033] When a protruding obstacle 10 exists on the surface of the steel cable 8 and the protruding obstacle 10 is located above the steel cable 8, refer to Figure 7As shown, the robot slides forward, and its driven wheel 22 on one side first contacts the raised obstacle 10. The driven wheel 22 is pushed upward by the raised obstacle 10, causing the main mounting base 1 on that side of the robot to be partially raised. Since the two ends of the steel cable 8 are taut and there is a span between the driven wheels 22, the section of the steel cable 8 between the two driven wheels 22 will be subjected to a downward component force, and the driving wheel mechanism 4 located below the steel cable 8 will move downward under this action. At this time, the constant force mechanism 5 still applies the same upward pushing force to the auxiliary mounting base 3, so the normal force between the driving wheel and the steel cable 8 remains unchanged, and the frictional force remains unchanged. After the driven wheel 22 passes the raised obstacle 10, the elastic deformation of the steel cable 8 recovers, and the constant force mechanism 5 immediately pushes the driving wheel back upward, so that the friction wheel 41 is once again in close contact with the lower surface of the steel cable 8. Subsequently, the driven wheel 22 on the other side repeats the above process. Throughout the obstacle-crossing process, the drive wheel maintains constant pressure against the steel cable 8. The drive wheel will not disengage or experience sudden pressure changes due to the lifting of the driven wheel 22. Therefore, the robot will not experience violent shaking, and the friction remains stable.

[0034] When the protruding obstacle 10 is located below the steel cable 8, refer to Figure 8 As shown, the driven wheel 22 remains unaffected and continues to roll normally on the upper surface of the cable 8. When the robot continues to move forward, the friction wheel 41 on the drive wheel mechanism 4 encounters the raised obstacle 10 below. The friction wheel 41 is pushed downwards along the contour of the raised obstacle 10, effectively moving downwards relative to the main mounting base 1. At this time, because the ends of the cable 8 are tensioned and the constant force mechanism 5 consistently applies an upward constant force, the normal force between the friction wheel 41 and the cable 8 remains constant and unchanged. The friction wheel 41 rolls along the surface of the raised obstacle 10, successfully overcoming the obstacle. After the friction wheel 41 leaves the raised obstacle 10, the constant force mechanism 5 pushes the auxiliary mounting base 3 and the drive wheel mechanism 4 upwards, causing the friction wheel 41 to once again adhere to the lower surface of the cable 8, allowing the robot to continue moving normally. During this process, because the normal force is constant, the friction between the friction wheel 41 and the cable 8 is unaffected by the raised obstacle 10.

[0035] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. An adaptive zipline robot for walking on a steel cable (8), characterized in that: The system includes a main mounting base (1), a driven wheel mechanism (2), a secondary mounting base (3), a driving wheel mechanism (4), a sliding mechanism (9), and a constant force mechanism (5); the driven wheel mechanism (2) is mounted on the main mounting base (1); the secondary mounting base (3) is mounted on the main mounting base (1) via the sliding mechanism (9); the driving wheel mechanism (4) is mounted on the secondary mounting base (3); the driving wheel mechanism (4) is located below the driven wheel mechanism (2) and can slide up and down relative to the driven wheel mechanism (2); the constant force mechanism (5) is mounted on the main mounting base (1) and is connected to the driven wheel mechanism (2). The auxiliary mounting base (3) is connected to apply an upward constant force to the auxiliary mounting base (3); the driving wheel mechanism (4) includes a friction wheel (41), a friction wheel mounting base (42), a transmission gear (43), a synchronous belt (44), a motor mounting base (45), a motor (46), and a drive gear (47); the auxiliary mounting base (3) is provided with a second mounting hole (31) for mounting the friction wheel (41); the friction wheel mounting base (42) is provided with a third mounting hole corresponding to the position of the second mounting hole (31); one end of the shaft of the friction wheel (41) is rotatably mounted on the third mounting hole (45). The first end is rotatably mounted in the second mounting hole (31), and the second end is rotatably mounted in the third mounting hole, with the shaft extending outward through the third mounting hole; the transmission gear (43) is fixedly mounted on the shaft of the friction wheel (41); the motor (46) is fixedly mounted on the auxiliary mounting base (3) via the motor mounting base (45); the drive gear (47) is fixedly mounted on the output shaft of the motor (46); the synchronous belt (44) is wound around the drive gear (47) and the transmission gear (43); the friction wheel (41) is subjected to the action of the constant force mechanism (5) and the steel The lower surface of the cable (8) is in contact; the main mounting base (1) is vertically arranged, and a pair of driven wheel mounting arms (11) are provided on both sides of its upper part; the driven wheel mounting arms (11) are provided with a first mounting hole for mounting the driven wheel mechanism (2); the constant force mechanism (5) includes a spring mounting base (51) and a constant force magnetic spring (52); the spring mounting base (51) is fixedly arranged on the main mounting base (1); one end of the constant force magnetic spring (52) is fixedly connected to the spring mounting base (51), and the other end is connected to the auxiliary mounting base (3), thereby applying an upward constant force to the auxiliary mounting base (3).

2. The adaptive zipline robot according to claim 1, characterized in that: The driven wheel mechanism (2) includes two driven wheels (22), two idler shafts (21), and two snap rings (23); one end of the idler shaft (21) is fixedly connected to the main mounting base (1) through the first mounting hole, and the other end is connected to the driven wheel (22); the snap ring (23) is used to lock the driven wheel (22) to the idler shaft (21) to prevent the driven wheel (22) from axial displacement; the driven wheel (22) contacts the upper surface of the steel cable (8) under the action of overall gravity.

3. The adaptive zipline robot according to claim 1, characterized in that: The sliding mechanism (9) includes a slide rail and a slider; the slide rail is vertically mounted on the main mounting base (1); the auxiliary mounting base (3) is fixedly connected to the slider, thereby moving up and down relative to the main mounting base (1).

4. The adaptive zipline robot according to claim 1, characterized in that: The auxiliary mounting base (3) is provided with a mounting groove (32) and a motor receiving hole (34); the friction wheel mounting base (42) includes a fixed horizontal part (421) and a vertical part (422); one end of the horizontal part (421) is inserted into the mounting groove (32) and fixed by screws; the third mounting hole is provided on the vertical part (422); the motor receiving hole (34) is used to accommodate the motor (46).

5. The adaptive zipline robot according to claim 1, characterized in that: It also includes a camera mounting base (7) and a battery (6); the camera mounting base (7) is fixedly mounted on the main mounting base (1); the camera mounting base (7) is provided with a battery compartment (71) for accommodating the battery (6); the battery (6) is located in the battery compartment (71) and is connected to the motor (46) via wires to supply power to it.

6. The adaptive zipline robot according to claim 1, characterized in that: It also includes a control module; the control module is electrically connected to the motor (46) and can receive signals from an external controller to control the rotation of the motor (46) to control the zipline robot to move on the steel cable (8).

7. The adaptive zipline robot according to claim 1, characterized in that: The main mounting base (1) is provided with a hollow hole to reduce the weight of the zipline robot.

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